三自由度气动机械手的运动分析及仿真研究

摘要

In the MATLAB environment, the parameters of manipulator were designed and the problems of kinematics were analyzed. Using the Robotics Toolbox for the MAT-LAB, the simulations of manipulator on kinematics and the trajectory planning were carried out. According to the results of the simulation and analysis,the manipulator should be optimized.%对三自由度机械手进行参数设计，使用MATLAB软件中的Robotics-toolbox工具箱对机械手的运动状况和末端执行器的轨迹规划进行仿真，分析其运动情况的仿真图和曲线函数图，判断其性能是否能达到最初的设计要求，并以仿真及分析结果作为机械手重新优化设计的理论依据。